Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Side clamping type hydraulic pile driver pose monitoring system and pose inverse solution method thereof
The invention discloses a side clamping type hydraulic pile driver pose monitoring system and a pose inverse solution method thereof. The side clamping type hydraulic pile driver pose monitoring system comprises a pose sensing unit, a displacement sensing unit, a data acquisition module, a data processing module, a communication management mechanism module and a monitoring system module which are arranged on a pile driver body. The pose sensing unit is arranged in the center of the pile driver tail end deflection mechanism and used for measuring pose information of a pile body clamped by the pile driver tail end deflection mechanism in the X-axis direction, the Y-axis direction and the Z-axis direction. The displacement sensing unit is arranged on three groups of movable arm oil cylinders of the mechanical arm of the pile driver and is used for measuring the propelling stroke of a hydraulic oil cylinder piston of the mechanical arm of the pile driver; the deflection angle of the mechanical arm joint of the pile driver can be inversely solved through the known position and posture information of the pile body, so that the propelling strokes of pistons of three movable arm oil cylinders of a mechanical large arm and a small arm of the pile driver and a tail end deflection mechanism of the pile driver are determined, and data reference is provided for an operator to adjust the position and posture of the pile body.
本发明公开了一种侧夹式液压打桩机位姿监测系统及其位姿反解方法，包括设置在打桩机机体上的位姿传感单元、位移传感单元、数据采集模块、数据处理模块、通信管理机制模块、监测系统模块；所述位姿传感单元设置在打桩机末端偏摆机构的中心部位用于测量打桩机末端偏摆机构所夹持桩体X、Y、Z三轴方向位姿信息；所述位移传感单元安置在打桩机机械臂的三组动臂油缸上用于测量打桩机机械臂液压油缸活塞的推进行程；能够通过已知桩体的位姿信息反解出打桩机机械臂关节偏角，从而确定打桩机机械大臂、小臂以及打桩机末端偏摆机构三组动臂油缸活塞的推进行程，从而为操作人员调整桩体位姿提供数据参考。
Side clamping type hydraulic pile driver pose monitoring system and pose inverse solution method thereof
The invention discloses a side clamping type hydraulic pile driver pose monitoring system and a pose inverse solution method thereof. The side clamping type hydraulic pile driver pose monitoring system comprises a pose sensing unit, a displacement sensing unit, a data acquisition module, a data processing module, a communication management mechanism module and a monitoring system module which are arranged on a pile driver body. The pose sensing unit is arranged in the center of the pile driver tail end deflection mechanism and used for measuring pose information of a pile body clamped by the pile driver tail end deflection mechanism in the X-axis direction, the Y-axis direction and the Z-axis direction. The displacement sensing unit is arranged on three groups of movable arm oil cylinders of the mechanical arm of the pile driver and is used for measuring the propelling stroke of a hydraulic oil cylinder piston of the mechanical arm of the pile driver; the deflection angle of the mechanical arm joint of the pile driver can be inversely solved through the known position and posture information of the pile body, so that the propelling strokes of pistons of three movable arm oil cylinders of a mechanical large arm and a small arm of the pile driver and a tail end deflection mechanism of the pile driver are determined, and data reference is provided for an operator to adjust the position and posture of the pile body.
本发明公开了一种侧夹式液压打桩机位姿监测系统及其位姿反解方法，包括设置在打桩机机体上的位姿传感单元、位移传感单元、数据采集模块、数据处理模块、通信管理机制模块、监测系统模块；所述位姿传感单元设置在打桩机末端偏摆机构的中心部位用于测量打桩机末端偏摆机构所夹持桩体X、Y、Z三轴方向位姿信息；所述位移传感单元安置在打桩机机械臂的三组动臂油缸上用于测量打桩机机械臂液压油缸活塞的推进行程；能够通过已知桩体的位姿信息反解出打桩机机械臂关节偏角，从而确定打桩机机械大臂、小臂以及打桩机末端偏摆机构三组动臂油缸活塞的推进行程，从而为操作人员调整桩体位姿提供数据参考。
Side clamping type hydraulic pile driver pose monitoring system and pose inverse solution method thereof
一种侧夹式液压打桩机位姿监测系统及其位姿反解方法
DAI JIANBO (Autor:in) / WANG XIUZHONG (Autor:in) / XU JIE (Autor:in)
19.08.2022
Patent
Elektronische Ressource
Chinesisch
IPC:
E02D
FOUNDATIONS
,
Gründungen
Side clamping type pile driver pose detection control system
| Europäisches Patentamt | 2021
Real-time pose classification for driver monitoring
| IEEE | 2002
| Europäisches Patentamt | 2015